From 7a0def9791c092505c6377c5b71b5b877230e8a0 Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Fri, 17 Mar 2023 11:08:49 -0700 Subject: [PATCH] Add `viewer.launch_passive` and `mjpython` to the changelog. PiperOrigin-RevId: 517458183 Change-Id: Idaa39fed2ab9d4a82b92b7a1a1cefb80b5b36fcf --- doc/changelog.rst | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 81a66599..1be00a5a 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -53,8 +53,13 @@ General Python bindings ^^^^^^^^^^^^^^^ -- Fixed IPython history corruption when using ``launch_repl``. The ``launch_repl`` function now provides seamless +- Fixed IPython history corruption when using ``viewer.launch_repl``. The ``launch_repl`` function now provides seamless continuation of an IPython interactive shell session, and is no longer considered experimental feature. +- Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking mode. Calls to + ``launch_passive`` return immediately, allowing user code to continue execution, with the viewer automatically + reflecting any changes to the physics state. (Note that this functionality is currently in experimental/beta stage, + and is not yet described in our :ref:`viewer documentation`.) +- Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to function there. - Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints, breaking strict correspondence between joints and ``efc_`` rows.